Diff: main.cpp

Revision:

8:5fe1b4bbd108

Parent:

7:8fab045d2616

Child:

9:9221ef8d36a8

--- a/main.cpp	Tue Oct 26 07:19:24 2021 +0000
+++ b/main.cpp	Tue Oct 26 08:04:13 2021 +0000
@@ -15,6 +15,7 @@
 Serial pc(SERIAL_TX, SERIAL_RX);
 DigitalIn flight_pin(A0);
 DigitalOut nichrome(D13);
+// 
 
 int main() {
     // 変数宣言
@@ -48,20 +49,25 @@
             // 移動
             catchGPS(&GPS_x, &GPS_y);
             AngleGet();
-            回転();
-
-            motor(1)
+            MotorDriver(4, 0.5);    //回転
+            wait();
+            MotorDriver(1, 0);      //回転停止
+                
+            MotorDriver(2, 0.5);  // 前進開始
         while (True) {
             if (FrontGet()) {
-                MotorDriver(1, 0);      //停止()
+                MotorDriver(1, 0);      //停止
                 MotorDriver(4, 0.5);    //回転
+                wait();
+                MotorDriver(1, 0);      //回転停止
                 continue;
             } else {
-                移動();
+                MotorDriver(2, 0.5);
             }
-        catchGPS(&GPS_x, &GPS_y);;
-        if ((next_CP_x - GPS_x)*(next_CP_x - GPS_x) + (next_CP_y = GPS_y)*(next_CP_y = GPS_y) < 5) { // CP到着判定 //試験で調整
-            break;
+            catchGPS(&GPS_x, &GPS_y);
+            if ((next_CP_x - GPS_x)*(next_CP_x - GPS_x) + (next_CP_y = GPS_y)*(next_CP_y = GPS_y) < 5) { // CP到着判定 //試験で調整
+                break;
+            }
         }
     }
     // 行動フロー終了